Mostrar el registro sencillo del ítem

dc.creatorMuñoz Peña, Kevin
dc.creatorBacca Cortes, Bladimir
dc.date2019-11-12
dc.identifierhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/3644
dc.identifier10.18359/rcin.3644
dc.descriptionNowadays, mobile robots begin to appear in public places. To do these tasks properly, mobile robots must interact with humans. This paper presents the development of GUI3DXBot, a software tool for a tour-guide mobile robot. The paper focuses on the development of different software modules needed to guide users in an office building. In this context, GUI3DXBot is a server-client application, where the server side runs into the robot, and the client side runs into a 10-inch Android tablet. The GUI3DXBot server side is in charge of performing the perception, localization-mapping, and path planning tasks. The GUI3DXBot client side implements the human-robot interface that allows users requesting-canceling a tour-guide service, showing robot localization in the map, interacting with users, and tele-operating the robot in case of emergency. The contributions of this paper are twofold: it proposes a software modules design to guide users in an office building, and the whole robot system was well integrated and fully tested. GUI3DXBot were tested using software integration and field tests. The field tests were performed over a two-week period, and a survey to users was conducted. The survey results show that users think GUI3DXBot is friendly and intuitive, the goal selection was very easy, the interactive messages were very easy to understand, 90% of users found useful the robot icon on the map, users found useful drawing the path on the map, 90% of users found useful the local-global map view, and the guidance experience was very satisfactory (70%) and satisfactory (30%).en-US
dc.descriptionActualmente, los robots móviles inician a aparecer en lugares públicos. Para realizar estas tareas adecuadamente, los robots móviles deben interactuar con humanos. Este artículo presenta GUI3DXBot, un aplicativo para un robot móvil guía. Este artículo se enfoca en el desarrollo de los diferentes módulos software necesarios para guiar a usuarios en un edificio de oficinas. GUI3DXBot es una aplicación cliente-servidor, donde el lado del servidor se ejecuta en el robot, y el lado del cliente se ejecuta en una tableta de 10 pulgadas Android. El lado servidor de GUI3DXBot está a cargo de la percepción, localización-mapeo y planificación de rutas. El lado cliente de GUI3DXBot implementa la interfaz humano-robot que permite a los usuarios solicitar-cancelar un servicio de guía, mostrar la localización del robot en el mapa, interactuar con los usuarios, y tele-operar el robot en caso de emergencia. Las contribuciones de este artículo son dos: se propone un diseño de módulos software para guiar a usuarios en un edificio de oficinas, y que todo el sistema robótico está bien integrado y completamente probado. GUI3DXBot fue validada usando pruebas de integración y de campo. Las pruebas de campo fueron realizadas en un periodo de 2 semanas, y una encuesta a los usuarios fue llevada a cabo. Los resultados de la encuesta mostraron que los usuarios piensan que GUI3DXBot es amigable e intuitiva, la selección de metas fue fácil, pudieron entender los mensajes de interacción, 90% de los usuarios encontraron útil el ícono del robot sobre el mapa, encontraron útil dibujar la ruta planeada en el mapa, 90% de los usuarios encontraron útil la vista local-global del mapa, y la experiencia de guía fue muy satisfactoria (70%) y satisfactoria (30%).es-ES
dc.formattext/xml
dc.formatapplication/pdf
dc.languageeng
dc.publisherUniversidad Militar Nueva Granadaes-ES
dc.relationhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/3644/4250
dc.relationhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/3644/4534
dc.relation/*ref*/K.-T. Song, Y.-H. Chiu, S.-H. Song, and K. Zinchenko, "Scheduling and control of a cloud robot for reception and guidance," in 2017 International Automatic Control Conference (CACS), 2017, pp. 1-6. https://doi.org/10.1109/CACS.2017.8284263
dc.relation/*ref*/R. Triebel, K. Arras, R. Alami, L. Beyer, S. Breuers, R. Chatila, M. Chetouani, D. Cremers, V. Evers, M. Fiore, H. Hung, O. A. I. Ramírez, M. Joosse, H. Khambhaita, T. Kucner, B. Leibe, A. J. Lilienthal, T. Linder, M. Lohse, M. Magnusson, B. Okal, L. Palmieri, U. Rafi, M. van Rooij, and L. Zhang, "SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports," Springer, Cham, 2016, pp. 607-622. https://doi.org/10.1007/978-3-319-27702-8_40
dc.relation/*ref*/B. Bacca-Cortes, K. Muñoz Peña, and E. Caicedo Bravo, "GUI3DXBOT, Solución para la Asistencia a Peatones en Ambientes de Oficina Usando un Robot Móvil Guía (13-60-371)." Ministerio del Interior, Dirección Nacional de Derechos de Autor, Cali, p. 1, 2017.
dc.relation/*ref*/M. Quigley, B. Gerkey, K. Conely, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A. Ng, "ROS: an open-source Robot Operating System," in ICRA, 2009, pp. 1-6.
dc.relation/*ref*/S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz, "Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva," Int. J. Rob. Res., vol. 19, no. 11, pp. 972-999, Nov. 2000. https://doi.org/10.1177/02783640022067922
dc.relation/*ref*/I. R. Nourbakhsh, J. Bobenage, S. Grange, R. Lutz, R. Meyer, and A. Soto, "An affective mobile robot educator with a full-time job," Artif. Intell., vol. 114, no. 1-2, pp. 95-124, Oct. 1999. https://doi.org/10.1016/S0004-3702(99)00027-2
dc.relation/*ref*/A. Bellarbi, S. Kahlouche, N. Achour, and N. Ouadah, "A social planning and navigation for tour-guide robot in human environment," in 2016 8th International Conference on Modelling, Identification and Control (ICMIC), 2016, pp. 622-627. https://doi.org/10.1109/ICMIC.2016.7804186
dc.relation/*ref*/S. J. Lee, J. Lim, G. Tewolde, and J. Kwon, "Autonomous tour guide robot by using ultrasonic range sensors and QR code recognition in indoor environment," in IEEE International Conference on Electro/Information Technology, 2014, pp. 410-415. https://doi.org/10.1109/EIT.2014.6871799
dc.relation/*ref*/S. Wang and H. I. Christensen, "TritonBot: First Lessons Learned from Deployment of a Long-Term Autonomy Tour Guide Robot," in 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2018, pp. 158-165. https://doi.org/10.1109/ROMAN.2018.8525845
dc.relation/*ref*/D. Rodriguez-Losada, F. Matia, R. Galan, M. Hernando, J. Manuel, and J. Manuel, "Urbano, an Interactive Mobile Tour-Guide Robot," in Advances in Service Robotics, InTech, 2008. https://doi.org/10.5772/5950
dc.relation/*ref*/R. Kümmerle, M. Ruhnke, B. Steder, C. Stachniss, and W. Burgard, "Autonomous Robot Navigation in Highly Populated Pedestrian Zones," J. F. Robot., vol. 32, no. 4, pp. 565-589, Jun. 2015. https://doi.org/10.1002/rob.21534
dc.relation/*ref*/K. Yelamarthi, S. Sherbrook, J. Beckwith, M. Williams, and R. Lefief, "An RFID based autonomous indoor tour guide robot," in 2012 IEEE 55th International Midwest Symposium on Circuits and Systems (MWSCAS), 2012, pp. 562-565. https://doi.org/10.1109/MWSCAS.2012.6292082
dc.relation/*ref*/Ching-Chih Tsai, Shu-Min Shish, Hsu-Chih Huang, Min-Yu Wang, and Chih Chung Lee, "Autonomous navigation of an indoor tour guide robot," in 2008 IEEE Workshop on Advanced robotics and Its Social Impacts, 2008, pp. 1-6. https://doi.org/10.1109/ARSO.2008.4653591
dc.relation/*ref*/F. Faber, M. Bennewitz, C. Eppner, A. Gorog, C. Gonsior, D. Joho, M. Schreiber, and S. Behnke, "The humanoid museum tour guide Robotinho," in RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009, pp. 891-896. https://doi.org/10.1109/ROMAN.2009.5326326
dc.relation/*ref*/H.-M. Gross, H. Boehme, C. Schroeter, S. Mueller, A. Koenig, E. Einhorn, C. Martin, M. Merten, and A. Bley, "TOOMAS: Interactive Shopping Guide robots in everyday use - final implementation and experiences from long-term field trials," in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 2005-2012. https://doi.org/10.1109/IROS.2009.5354497
dc.relation/*ref*/Y. Chen, F. Wu, W. Shuai, and X. Chen, "Robots serve humans in public places-KeJia robot as a shopping assistant," Int. J. Adv. Robot. Syst., vol. 14, no. 3, pp. 1-20, 2017. https://doi.org/10.1177/1729881417703569
dc.relation/*ref*/R. Stricker, S. Müller, E. Einhorn, C. Schröter, M. Volkhardt, K. Debes, and H. M. Gross, "Konrad and Suse, two robots guiding visitors in a university building," Inform. aktuell, pp. 49-58, 2012. https://doi.org/10.1007/978-3-642-32217-4_6
dc.relation/*ref*/H. Lin and W. Tsao, "Automatic mapping and localization of a tour guide robot by fusing active RFID and ranging laser scanner," 2011 Int. Conf. Adv. Mechatron. Syst., pp. 429-434, 2011.
dc.relation/*ref*/G. Grisetti, C. Stachniss, and W. Burgard, "Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters," IEEE Trans. Robot., vol. 23, no. 1, pp. 34-46, Feb. 2007. https://doi.org/10.1109/TRO.2006.889486
dc.relation/*ref*/P. Kruchten, The Rational Unified Process: An Introduction, 3rd ed. Addison-Wesley Professional, 2003.
dc.relation/*ref*/D. V. Lu, D. Hershberger, and W. D. Smart, "Layered costmaps for context-sensitive navigation," in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 709-715.
dc.relation/*ref*/J. Mace, J. Lee, R. Toris, B. Alexander, D. Bertram, and M. Gruhler, "RosBridge Protocol Specification," GitHub, 2018. [Online]. Available: https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md. [Accessed: 01-Sep-2018].
dc.rightsDerechos de autor 2019 Ciencia e Ingeniería Neogranadinaes-ES
dc.sourceCiencia e Ingenieria Neogranadina; Vol. 30 No. 1 (2020); 59-74en-US
dc.sourceCiencia e Ingeniería Neogranadina; Vol. 30 Núm. 1 (2020); 59-74es-ES
dc.sourceCiencia e Ingeniería Neogranadina; v. 30 n. 1 (2020); 59-74pt-BR
dc.source1909-7735
dc.source0124-8170
dc.subjectTour-guide roboten-US
dc.subjectMobile roboten-US
dc.subjectHuman-robot interactionen-US
dc.subjectService roboticsen-US
dc.subjectRobot guíaes-ES
dc.subjectRobot móviles-ES
dc.subjectInteracción humano-robotes-ES
dc.subjectRobótica de servicio.es-ES
dc.titleGUI3DXBot: An Interactive Software Tool for a Tour-Guide Mobile Roboten-US
dc.titleGUI3DXBot: Una herramienta software interactiva para un robot móvil guíaes-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion
dc.typetextoen-US


Archivos en el ítem

ArchivosTamañoFormatoVer

No hay archivos asociados a este ítem.

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem